In Modes 254 and 255, the event to trigger transmission is defined by the message producer.
This object stores information of received PDO.
Properties of the object
Object properties:
Sub index |
Description |
Data Type Default |
Access PDO mapping Backup |
|---|---|---|---|
0 |
Sub index number |
UNSIGNED8 2 |
ro (read only) X O |
1 |
COB-ID |
Object 1400h: UNSIGNED32 200h + node ID
Object 1401 to 1403h UNSIGNED32 80000200h + the last digit of the object × 100h + Node ID
Object 1404 to 1407h UNSIGNED32 80000000h + node ID |
rw (read-write) X O |
2 |
Transmission mode |
UNSIGNED8 255 |
rw (read-write) X O |
Transmission mode
PDO transmission mode can be set as in the following table.
Transfer code |
Transmission mode |
Remarks |
||||
|---|---|---|---|---|---|---|
Cyclic |
Noncyclic |
Synchronous |
Asynchronous |
RTR only |
||
0 |
|
X |
X |
|
|
Send PDO in the first Sync message after the event |
1 to 240 |
X |
|
X |
|
|
Send PDO per x pieces of Sync message |
241 to 251 |
Reserved |
|
- |
|||
252 to 253 |
Reserved |
|
- |
|||
254 |
|
|
|
X |
|
Send PDO when an event occurs |
255 |
|
|
|
X |
|
Send PDO when an event occurs |
In Modes 254 and 255, the event to trigger transmission is defined by the message producer.